In large bowl, stir together the warm milk, yeast and about a tablespoon of the sugar. Let stand until it is foamy, about 5 minutes.
Once the yeast mixture is foamy, add in the rest of the sugar, oil, salt and egg. Mix throuroughly.
Add 2 cups of flour and mix until just combined to avoid splattering during mixing.
Attach the dough hook to the stand mixer and mix the dough on medium speed for about 10 minutes. Add the remaining 1/2 cup flour gradually.
Continue mixing (kneading) for about another 10 minutes or until the dough does not stick on the side and bottom of the bowl anymore. Shape the dough into a ball and let it rest in a large bowl greased with oil. Cover with a cloth and wait until the dough doubles in size, about 1 hour (depending on the room temperature). Check the dough occasionally to avoid over rising (over rising creates a sour bread).
Once the dough finished rising, gently punch it down to remove the air and divide into 16 small portions. Shape the dough into a ball and roll in bread crumbs. Repeat this process until all dough has been shaped. Arrange the dough in a baking tray and cover with cloth loosely. Let it rest for about 30 minutes.
Preheat the oven to 175°C. Bake the pandesal in the preheated oven for about 12-15 minutes or until the top is golden brown.